Lenze PM94P01C - Manual (Page 95)

PM94P01C 93
Reference
Table 43: MDV
MDV Segment Move Statement
Purpose MDV defines individual motion segment by specifying distance and final velocity (for each segment) in
User Units. Acceleration (or deceleration) is calculated automatically based on these two parameters.
This technique allows complicated moves to be created that consist of many segments. Each MDV
sequence (series of MDV segments) starts and ends with a velocity of 0. Based on this an MDV
sequence must have at least two segments. The MDV statement doesn’t suspend execution of
the main program. Each segment is loaded into the Motion Queue and the sequence executed
immediately. If the last segment in the Motion Queue doesn’t have a final velocity of 0, the drive will
generate a “Motion Queue Empty” fault #24. If the “S” modifier is used in the statement, then the
velocity acceleration/deceleration will be S-curved as opposed to be linear.
Syntax MDV <[-]segment distance>,<segment final velocity> [,S]
S[-curve] optional modifier specifies S-curve acceleration / deceleration.
See Also MOVE, MOVEP, MOVEPR, MOVED, MOVEDR, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MDV 5, 10
;Move 5 user units and accelerate to a velocity of 10
MDV 10,10 ;Move 10 user units and maintain a velocity of 10
MDV 10,5 ;Move 10 user units and decelerate to velocity of 5
MDV 5,;0 ;Move 5 user units and decelerate to velocity 0.
;The last MDV must have a final velocity of 0.
{Statements…}
Table 44: MEMGET
MEMGET Memory access statements MEMGET Statement
Purpose MEMGET provides command for simplified retrieval of data from the drives RAM memory file through
transfer of data to the variables V0-V31. Using this statement any combinations of variables V0-V31
can be retrieved from the RAM file with a single statement.
Syntax MEMGET <offset> [ <varlist>]
<offset> It specifies offset in RAM file where data will be retrieved.
Range: -32767 to 32767
<varlist> any combinations of variables V0-V31
See Also MEMSET
Example:
MEMGET 5 [V0] ;single variable will be retrieved from location 5
MEMGET V1 [V0,V3,V2] ;variables V0,V3,V2 will be retrieved from
;memory location starting at value held in V1
MEMGET 10 [V3-V7] ;variables V3 to V7 inclusively will be retrieved
MEMGET V1 [V0,V2,V4-V8] ;variables V0,V2, V4 through V8 will be retrieved